Source code for embodichain_robots.pollen_robotics.microduck.cfg

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"""Configuration for the 14-joint MicroDuck biped."""

from __future__ import annotations

from typing import Any

from embodichain.utils import configclass

from ..._locomotion import _LocomotionRobotCfg, _apply_profile

__all__ = ["MicroDuckCfg"]




@configclass
class MicroDuckCfg(_LocomotionRobotCfg):
    """Configure the bundled 14-joint MicroDuck biped with its default PD drives.

    The preset preserves the existing locomotion simulation asset and standing
    pose. It provides the locomotion control group without an IK solver.
    Construct it with :meth:`from_dict` to assemble defaults and caller overrides.
    """

    def _build_defaults(self, init_dict: dict[str, Any] | None = None) -> None:
        """Populate the model's asset, control group, pose and drive defaults."""
        _apply_profile(self, "MicroDuck", init_dict)